# 2. Add New Robot
We are all excited about humanoid, now lets add a humanoid robot to MetaSim.

## Common Usage

```bash
python get_started/2_add_new_robot.py  --sim <simulator>
```
you can also render in the headless mode by adding `--headless` flag. By using this, there will be no window popping up and the rendering will also be faster.

By running the above command, you will add a new robot to MetaSim and it will automatically record a video.


### Examples

#### IsaacSim
```bash
python get_started/2_add_new_robot.py  --sim isaacsim
```

#### Isaac Gym
```bash
python get_started/2_add_new_robot.py  --sim isaacgym
```

#### Mujoco
```bash
# For mac users, replace python with mjpython.
python get_started/2_add_new_robot.py  --sim mujoco --headless
```
Note that we find the `non-headless` mode of Mujoco is not stable. So we recommend using the `headless` mode.

#### Genesis
```bash
python get_started/2_add_new_robot.py  --sim genesis
```
Note that we find the `headless` mode of Genesis is not stable. So we recommend using the `non-headless` mode.

#### Sapien
```bash
python get_started/2_add_new_robot.py  --sim sapien3
```

#### Pybullet
```bash
python get_started/2_add_new_robot.py  --sim pybullet
```


You will get the following videos:

<div style="display: flex; flex-wrap: wrap; justify-content: space-between; gap: 10px;">
    <div style="display: flex; justify-content: space-between; width: 100%; margin-bottom: 20px;">
        <div style="width: 32%; text-align: center;">
            <video width="100%" autoplay loop muted playsinline>
                <source src="https://roboverse.wiki/_static/standard_output/2_add_new_robot_isaaclab.mp4" type="video/mp4">
            </video>
            <p style="margin-top: 5px;">Isaac Lab</p>
        </div>
        <div style="width: 32%; text-align: center;">
            <video width="100%" autoplay loop muted playsinline>
                <source src="https://roboverse.wiki/_static/standard_output/2_add_new_robot_isaacgym.mp4" type="video/mp4">
            </video>
            <p style="margin-top: 5px;">Isaac Gym</p>
        </div>
        <div style="width: 32%; text-align: center;">
            <video width="100%" autoplay loop muted playsinline>
                <source src="https://roboverse.wiki/_static/standard_output/2_add_new_robot_mujoco.mp4" type="video/mp4">
            </video>
            <p style="margin-top: 5px;">MuJoCo</p>
        </div>
    </div>
    <div style="display: flex; justify-content: space-between; width: 100%;">
        <div style="width: 32%; text-align: center;">
            <video width="100%" autoplay loop muted playsinline>
                <source src="https://roboverse.wiki/_static/standard_output/2_add_new_robot_genesis.mp4" type="video/mp4">
            </video>
            <p style="margin-top: 5px;">Genesis</p>
        </div>
        <div style="width: 32%; text-align: center;">
            <video width="100%" autoplay loop muted playsinline>
                <source src="https://roboverse.wiki/_static/standard_output/2_add_new_robot_sapien3.mp4" type="video/mp4">
            </video>
            <p style="margin-top: 5px;">SAPIEN</p>
        </div>
        <div style="width: 32%; text-align: center;">
            <video width="100%" autoplay loop muted playsinline>
                <source src="https://roboverse.wiki/_static/standard_output/2_add_new_robot_pybullet.mp4" type="video/mp4">
            </video>
            <p style="margin-top: 5px;">PyBullet</p>
        </div>
    </div>
</div>

## Code Highlights

**Robot Configuration**: Create a custom `RobotCfg` with essential components:
```python
robot = RobotCfg(
    name="new_robot_h1",
    num_joints=26,
    usd_path="roboverse_data/robots/h1/usd/h1.usd",
    mjcf_path="roboverse_data/robots/h1/mjcf/h1.xml", 
    urdf_path="roboverse_data/robots/h1/urdf/h1.urdf",
    actuators={
        "left_hip_yaw": BaseActuatorCfg(stiffness=200, damping=5),
        "left_knee": BaseActuatorCfg(stiffness=300, damping=6),
        # ... more joints
    },
    joint_limits={
        "left_hip_yaw": (-0.43, 0.43),
        "left_knee": (-0.26, 2.05),
        # ... more limits
    },
    control_type={
        "left_hip_yaw": "position",
        "left_knee": "position",
        # ... more control modes
    }
)
```

**Key Components**:
- **Asset paths**: USD/MJCF/URDF files for different simulators
- **Actuators**: Per-joint stiffness, damping, and torque limits
- **Joint limits**: Min/max ranges for each joint
- **Control types**: Position, velocity, or effort control per joint

For detailed RobotCfg configuration options, see the [Robot Configuration section](../../concept/config.md#robot-configuration-specification) in the concept documentation.